Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

Yan Jie Li; Zhen Wei Wu

doi:10.4028/www.scientific.net/AMM.26-28.194

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 26-28Modeling and Simulation of a Six-Leg-Wheel Hybrid...

Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

Abstract:

The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

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Periodical:

Applied Mechanics and Materials (Volumes 26-28)

Pages:

194-197

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.26-28.194

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Online since:

June 2010

Authors:

Yan Jie Li, Zhen Wei Wu

Keywords:

Dynamic Modelling, Dynamic Simulation, Six-Leg-Wheel Hybrid Mobile Robot

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References

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